| 1 |
#ifndef lint |
| 2 |
static const char RCSid[] = "$Id: rcode_depth.c,v 2.10 2020/02/12 01:13:01 greg Exp $"; |
| 3 |
#endif |
| 4 |
/* |
| 5 |
* Encode and decode depth map using 16-bit integers |
| 6 |
*/ |
| 7 |
|
| 8 |
#include "copyright.h" |
| 9 |
|
| 10 |
#include <stdlib.h> |
| 11 |
#include <math.h> |
| 12 |
#include <ctype.h> |
| 13 |
#include "platform.h" |
| 14 |
#include "rtio.h" |
| 15 |
#include "fvect.h" |
| 16 |
#include "depthcodec.h" |
| 17 |
|
| 18 |
char *progname; /* set in main() */ |
| 19 |
|
| 20 |
enum {CV_FWD, CV_REV, CV_PTS}; |
| 21 |
|
| 22 |
|
| 23 |
/* Report usage error and exit */ |
| 24 |
static void |
| 25 |
usage_exit(int code) |
| 26 |
{ |
| 27 |
fputs("Usage: ", stderr); |
| 28 |
fputs(progname, stderr); |
| 29 |
fputs( |
| 30 |
" [-d ref_depth/unit][-h[io]][-H[io]][-f[afd]][-x xr -y yr] [input [output.dpt]]\n", |
| 31 |
stderr); |
| 32 |
fputs(" Or: ", stderr); |
| 33 |
fputs(progname, stderr); |
| 34 |
fputs( |
| 35 |
" {-r|-p} [-i][-u][-h[io]][-H[io]][-f[afd]] [input.dpt [output]]\n", |
| 36 |
stderr); |
| 37 |
exit(code); |
| 38 |
} |
| 39 |
|
| 40 |
|
| 41 |
/* Encode depths from input stream */ |
| 42 |
static int |
| 43 |
encode_depths(DEPTHCODEC *dcp) |
| 44 |
{ |
| 45 |
long nexpected = (long)dcp->res.xr * dcp->res.yr; |
| 46 |
|
| 47 |
if (dcp->inpfmt[0]) { |
| 48 |
if (!strcmp(dcp->inpfmt, "ascii")) |
| 49 |
dcp->format = 'a'; |
| 50 |
else if (!strcmp(dcp->inpfmt, "float")) |
| 51 |
dcp->format = 'f'; |
| 52 |
else if (!strcmp(dcp->inpfmt, "double")) |
| 53 |
dcp->format = 'd'; |
| 54 |
else { |
| 55 |
fputs(dcp->inpname, stderr); |
| 56 |
fputs(": unsupported input format: ", stderr); |
| 57 |
fputs(dcp->inpfmt, stderr); |
| 58 |
fputc('\n', stderr); |
| 59 |
return 0; |
| 60 |
} |
| 61 |
} |
| 62 |
if (dcp->format == 'a') |
| 63 |
SET_FILE_TEXT(dcp->finp); |
| 64 |
|
| 65 |
do { |
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int ok = 0; |
| 67 |
float f; |
| 68 |
double d; |
| 69 |
|
| 70 |
switch (dcp->format) { |
| 71 |
case 'a': |
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ok = (fscanf(dcp->finp, "%lf", &d) == 1); |
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break; |
| 74 |
case 'f': |
| 75 |
ok = (getbinary(&f, sizeof(f), 1, dcp->finp) == 1); |
| 76 |
if (dcp->swapped) |
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swap32((char *)&f, 1); |
| 78 |
d = f; |
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break; |
| 80 |
case 'd': |
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ok = (getbinary(&d, sizeof(d), 1, dcp->finp) == 1); |
| 82 |
if (dcp->swapped) |
| 83 |
swap64((char *)&d, 1); |
| 84 |
break; |
| 85 |
} |
| 86 |
if (!ok) |
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break; |
| 88 |
|
| 89 |
putint(depth2code(d, dcp->refdepth), 2, stdout); |
| 90 |
|
| 91 |
} while (--nexpected); |
| 92 |
|
| 93 |
if (nexpected > 0) { |
| 94 |
fputs(dcp->inpname, stderr); |
| 95 |
fputs(": fewer depths than expected\n", stderr); |
| 96 |
return 0; |
| 97 |
} |
| 98 |
return 1; |
| 99 |
} |
| 100 |
|
| 101 |
|
| 102 |
/* Convert and output the given depth to stdout */ |
| 103 |
static void |
| 104 |
output_depth(DEPTHCODEC *dcp, double d) |
| 105 |
{ |
| 106 |
float f; |
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|
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switch (dcp->format) { |
| 109 |
case 'a': |
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printf("%.5e\n", d); |
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break; |
| 112 |
case 'f': |
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f = d; |
| 114 |
putbinary(&f, sizeof(f), 1, stdout); |
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break; |
| 116 |
case 'd': |
| 117 |
putbinary(&d, sizeof(d), 1, stdout); |
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break; |
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} |
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} |
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|
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|
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/* Decode depths from input stream */ |
| 124 |
static int |
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decode_depths(DEPTHCODEC *dcp) |
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{ |
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long nexpected = (long)dcp->res.xr * dcp->res.yr; |
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|
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if (!check_decode_depths(dcp)) |
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return 0; |
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|
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do { |
| 133 |
double d = decode_depth_next(dcp); |
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if (d < -FTINY) |
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break; |
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output_depth(dcp, d); |
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|
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} while (--nexpected); |
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|
| 140 |
if (nexpected > 0) { |
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fputs(dcp->inpname, stderr); |
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fputs(": unexpected EOF\n", stderr); |
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return 0; |
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} |
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return 1; |
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} |
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|
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|
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/* Decode depths at particular pixels given on standard input */ |
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static int |
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pixel_depths(DEPTHCODEC *dcp, int unbuf) |
| 152 |
{ |
| 153 |
int xy[2]; |
| 154 |
double d; |
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|
| 156 |
if (dcp->finp == stdin) { |
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fputs(progname, stderr); |
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fputs(": <stdin> used for encoded depths\n", stderr); |
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return 0; |
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} |
| 161 |
if (!check_decode_depths(dcp)) |
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return 0; |
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|
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while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
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|
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loc2pix(xy, &dcp->res, |
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(xy[0]+.5)/dcp->res.xr, (xy[1]+.5)/dcp->res.yr); |
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|
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d = decode_depth_pix(dcp, xy[0], xy[1]); |
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if (d < -FTINY) |
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return 0; |
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|
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output_depth(dcp, d); |
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|
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if (unbuf && fflush(stdout) == EOF) { |
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fputs(progname, stderr); |
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fputs(": write error on output\n", stderr); |
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return 0; |
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} |
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} |
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if (!feof(stdin)) { |
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fputs(progname, stderr); |
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fputs(": non-integer as pixel index\n", stderr); |
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return 0; |
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} |
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return 1; |
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} |
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|
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|
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/* Output the given world position to stdout */ |
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static void |
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output_worldpos(DEPTHCODEC *dcp, FVECT wpos) |
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{ |
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switch (dcp->format) { |
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case 'a': |
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printf("%.5e %.5e %.5e\n", wpos[0], wpos[1], wpos[2]); |
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break; |
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#ifdef SMLFLT |
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case 'f': |
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putbinary(wpos, sizeof(*wpos), 3, stdout); |
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break; |
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case 'd': { |
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double wpd[3]; |
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VCOPY(wpd, wpos); |
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putbinary(wpd, sizeof(*wpd), 3, stdout); |
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} |
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break; |
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#else |
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case 'f': { |
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float wpf[3]; |
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VCOPY(wpf, wpos); |
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putbinary(wpf, sizeof(*wpf), 3, stdout); |
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} |
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break; |
| 215 |
case 'd': |
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putbinary(wpos, sizeof(*wpos), 3, stdout); |
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break; |
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#endif |
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} |
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} |
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|
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|
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/* Decode world points from input stream */ |
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static int |
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decode_points(DEPTHCODEC *dcp) |
| 226 |
{ |
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long n = (long)dcp->res.xr * dcp->res.yr; |
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|
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if (!check_decode_worldpos(dcp)) |
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return 0; |
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|
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while (n-- > 0) { |
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FVECT wpos; |
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if (decode_worldpos_next(wpos, dcp) < 0) { |
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if (feof(dcp->finp)) { |
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fputs(dcp->inpname, stderr); |
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fputs(": unexpected EOF\n", stderr); |
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} |
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return 0; |
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} |
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output_worldpos(dcp, wpos); |
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} |
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return 1; |
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} |
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|
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|
| 247 |
/* Decode world points at particular pixels given on standard input */ |
| 248 |
static int |
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pixel_points(DEPTHCODEC *dcp, int unbuf) |
| 250 |
{ |
| 251 |
int xy[2]; |
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FVECT wpos; |
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|
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if (dcp->finp == stdin) { |
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fputs(progname, stderr); |
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fputs(": <stdin> used for encoded depths\n", stderr); |
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return 0; |
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} |
| 259 |
if (!check_decode_worldpos(dcp)) |
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return 0; |
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|
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while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
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loc2pix(xy, &dcp->res, |
| 264 |
(xy[0]+.5)/dcp->res.xr, (xy[1]+.5)/dcp->res.yr); |
| 265 |
if (get_worldpos_pix(wpos, dcp, xy[0], xy[1]) < 0) |
| 266 |
return 0; |
| 267 |
output_worldpos(dcp, wpos); |
| 268 |
if (unbuf && fflush(stdout) == EOF) { |
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fputs(progname, stderr); |
| 270 |
fputs(": write error on output\n", stderr); |
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return 0; |
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} |
| 273 |
} |
| 274 |
if (!feof(stdin)) { |
| 275 |
fputs(progname, stderr); |
| 276 |
fputs(": non-integer as pixel index\n", stderr); |
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return 0; |
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} |
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return 1; |
| 280 |
} |
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|
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|
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int |
| 284 |
main(int argc, char *argv[]) |
| 285 |
{ |
| 286 |
int xres=0, yres=0; |
| 287 |
int conversion = CV_FWD; |
| 288 |
int bypixel = 0; |
| 289 |
int unbuffered = 0; |
| 290 |
DEPTHCODEC dc; |
| 291 |
int a; |
| 292 |
|
| 293 |
progname = argv[0]; |
| 294 |
set_dc_defaults(&dc); |
| 295 |
dc.hdrflags = HF_ALL; |
| 296 |
for (a = 1; a < argc && argv[a][0] == '-'; a++) |
| 297 |
switch (argv[a][1]) { |
| 298 |
case 'd': |
| 299 |
strlcpy(dc.depth_unit, argv[++a], sizeof(dc.depth_unit)); |
| 300 |
dc.refdepth = atof(dc.depth_unit); |
| 301 |
if (dc.refdepth <= .0) { |
| 302 |
fputs(progname, stderr); |
| 303 |
fputs(": illegal -d reference depth\n", stderr); |
| 304 |
return 1; |
| 305 |
} |
| 306 |
break; |
| 307 |
case 'r': |
| 308 |
conversion = CV_REV; |
| 309 |
break; |
| 310 |
case 'p': |
| 311 |
conversion = CV_PTS; |
| 312 |
break; |
| 313 |
case 'f': |
| 314 |
switch (argv[a][2]) { |
| 315 |
case 'f': |
| 316 |
case 'd': |
| 317 |
case 'a': |
| 318 |
dc.format = argv[a][2]; |
| 319 |
break; |
| 320 |
default: |
| 321 |
fputs(progname, stderr); |
| 322 |
fputs(": unsupported -f? format\n", stderr); |
| 323 |
usage_exit(1); |
| 324 |
} |
| 325 |
break; |
| 326 |
case 'h': |
| 327 |
switch (argv[a][2]) { |
| 328 |
case '\0': |
| 329 |
dc.hdrflags &= ~(HF_HEADIN|HF_HEADOUT); |
| 330 |
break; |
| 331 |
case 'i': |
| 332 |
case 'I': |
| 333 |
dc.hdrflags &= ~HF_HEADIN; |
| 334 |
break; |
| 335 |
case 'o': |
| 336 |
case 'O': |
| 337 |
dc.hdrflags &= ~HF_HEADOUT; |
| 338 |
break; |
| 339 |
default: |
| 340 |
usage_exit(1); |
| 341 |
} |
| 342 |
break; |
| 343 |
case 'H': |
| 344 |
switch (argv[a][2]) { |
| 345 |
case '\0': |
| 346 |
dc.hdrflags &= ~(HF_RESIN|HF_RESOUT); |
| 347 |
break; |
| 348 |
case 'i': |
| 349 |
case 'I': |
| 350 |
dc.hdrflags &= ~HF_RESIN; |
| 351 |
break; |
| 352 |
case 'o': |
| 353 |
case 'O': |
| 354 |
dc.hdrflags &= ~HF_RESOUT; |
| 355 |
break; |
| 356 |
default: |
| 357 |
usage_exit(1); |
| 358 |
} |
| 359 |
break; |
| 360 |
case 'x': |
| 361 |
xres = atoi(argv[++a]); |
| 362 |
break; |
| 363 |
case 'y': |
| 364 |
yres = atoi(argv[++a]); |
| 365 |
break; |
| 366 |
case 'i': |
| 367 |
bypixel++; |
| 368 |
break; |
| 369 |
case 'u': |
| 370 |
unbuffered++; |
| 371 |
break; |
| 372 |
default: |
| 373 |
usage_exit(1); |
| 374 |
} |
| 375 |
dc.hdrflags |= (conversion == CV_FWD) * HF_ENCODE; |
| 376 |
|
| 377 |
if ((xres > 0) & (yres > 0)) { |
| 378 |
dc.hdrflags &= ~HF_RESIN; |
| 379 |
dc.res.rt = PIXSTANDARD; |
| 380 |
dc.res.xr = xres; |
| 381 |
dc.res.yr = yres; |
| 382 |
} else if ((dc.hdrflags & (HF_RESIN|HF_RESOUT)) == HF_RESOUT) { |
| 383 |
fputs(progname, stderr); |
| 384 |
fputs(": unknown resolution for output\n", stderr); |
| 385 |
return 1; |
| 386 |
} |
| 387 |
if (bypixel) { |
| 388 |
if (conversion == CV_FWD) { |
| 389 |
fputs(progname, stderr); |
| 390 |
fputs(": -i only supported with -r or -p option\n", |
| 391 |
stderr); |
| 392 |
usage_exit(1); |
| 393 |
} |
| 394 |
if (a >= argc) { |
| 395 |
fputs(progname, stderr); |
| 396 |
fputs(": -i option requires input file\n", stderr); |
| 397 |
usage_exit(1); |
| 398 |
} |
| 399 |
if (!(dc.hdrflags & HF_RESIN)) { |
| 400 |
fputs(progname, stderr); |
| 401 |
fputs(": -i option requires input resolution\n", stderr); |
| 402 |
usage_exit(1); |
| 403 |
} |
| 404 |
dc.hdrflags &= ~HF_RESOUT; |
| 405 |
} |
| 406 |
if (a < argc-2) { |
| 407 |
fputs(progname, stderr); |
| 408 |
fputs(": too many file arguments\n", stderr); |
| 409 |
usage_exit(1); |
| 410 |
} |
| 411 |
if (a < argc && !(dc.finp = fopen(dc.inpname=argv[a], "r"))) { |
| 412 |
fputs(dc.inpname, stderr); |
| 413 |
fputs(": cannot open for reading\n", stderr); |
| 414 |
return 1; |
| 415 |
} |
| 416 |
if (a+1 < argc && !freopen(argv[a+1], "w", stdout)) { |
| 417 |
fputs(argv[a+1], stderr); |
| 418 |
fputs(": cannot open for writing\n", stderr); |
| 419 |
return 1; |
| 420 |
} |
| 421 |
SET_FILE_BINARY(dc.finp); /* starting assumption */ |
| 422 |
SET_FILE_BINARY(stdout); |
| 423 |
#ifdef getc_unlocked /* avoid stupid semaphores */ |
| 424 |
flockfile(dc.finp); |
| 425 |
flockfile(stdout); |
| 426 |
#endif |
| 427 |
/* read/copy header */ |
| 428 |
if (!process_dc_header(&dc, a, argv)) |
| 429 |
return 1; |
| 430 |
|
| 431 |
if ((conversion != CV_FWD) & (dc.format == 'a')) |
| 432 |
SET_FILE_TEXT(stdout); |
| 433 |
/* process data */ |
| 434 |
switch (conversion) { |
| 435 |
case CV_FWD: /* distance -> depth code */ |
| 436 |
if (!strcmp(dc.depth_unit, "1")) { |
| 437 |
fputs(progname, stderr); |
| 438 |
fputs(": warning - using reference depth of 1.0\n", |
| 439 |
stderr); |
| 440 |
} |
| 441 |
if (!encode_depths(&dc)) |
| 442 |
return 1; |
| 443 |
break; |
| 444 |
case CV_REV: /* depth code -> distance */ |
| 445 |
if (!(bypixel ? pixel_depths(&dc, unbuffered) : |
| 446 |
decode_depths(&dc))) |
| 447 |
return 1; |
| 448 |
break; |
| 449 |
case CV_PTS: /* depth code -> world points */ |
| 450 |
if (!(bypixel ? pixel_points(&dc, unbuffered) : |
| 451 |
decode_points(&dc))) |
| 452 |
return 1; |
| 453 |
break; |
| 454 |
} |
| 455 |
if (fflush(stdout) == EOF) { |
| 456 |
fputs(progname, stderr); |
| 457 |
fputs(": error writing output\n", stderr); |
| 458 |
return 1; |
| 459 |
} |
| 460 |
return 0; |
| 461 |
} |
